The Elixabeth Line runs 24 trains per hour automatically through a 10-station tunnel in central London. It mainly uses axle counters to measure where the train is.

https://www.railengineer.co.uk/controlling-the-elizabeth-lin...

> The signalling is essentially hands off and is timetable driven. The latter includes GoA3 reversing moves at Paddington and Abbey Wood which are fully automatic as are all entries into and out of a depot. The line uses axle counters for secondary train positioning information other than where neutral sections for the overhead power exist, where track circuits are deployed, these being seen as less vulnerable to any spark interference from the overhead catenaries.